JP2020026027A - Mediation device and mediation method - Google Patents

Abstract

To provide a mediation device and a mediation method by which interest in an industrial robot can be further improved compared to a conventional one.SOLUTION: A mediation device executes: processing for receiving an operational signal for operating at least two industrial robots, which respectively correspond to a terminal device or a computer and execute a prescribed work or a prescribed competition, from at least two terminal devices or at least one terminal device and at least one computer; processing for causing at least two industrial robots to execute the prescribed work or the prescribed competition on the basis of the operation signal; and processing for causing a display unit owned by an operator for the terminal device to display an image of work or competition site with at least two industrial robot which has been captured by an imaging device.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a mediation device and a mediation method for operating each industrial robot based on an operation of an operation terminal by a plurality of operators.

  2. Description of the Related Art Conventionally, there has been known a game system in which a plurality of operators operate a controller to cause a battle between robots (for example, see Patent Literature 1). In the game system of Patent Literature 1, a plurality of operators remotely control robots having the same configuration using controllers, whereby the robots compete with each other in a circular battlefield having a diameter of about 5 m.

  The robot in the above-mentioned game system has a superiority / excellence determination unit. The superiority / nonconformity determination unit constantly monitors whether the physical fitness value calculated by the physical fitness value calculating unit has become 0 and whether the time limit has elapsed, and determines that the physical fitness value of the robot has become 0. If detected, the robot is determined to be defeated.

JP 2009-000286 A

  By the way, labor shortage is becoming an issue recently, and labor shortage is becoming an issue. Therefore, industrial robots are attracting much attention. Industrial robots can compensate for labor shortages in many industries. Therefore, industrial robots need to be more widely used, and the spread of the robots needs to increase public interest in industrial robots. However, the above-mentioned conventional system merely determines the superiority or inferiority of a game, and cannot be said to realize an improvement in interest in an industrial robot.

  Therefore, an object of the present invention is to provide an intermediary device and an intermediary method capable of improving interest in an industrial robot than before.

  The intermediary device of the present invention executes a predetermined task or a predetermined game corresponding to the operation terminal or the computer from at least two operation terminals or from at least one operation terminal and at least one computer. A process of receiving an operation signal for operating at least two industrial robots, a process of causing the at least two industrial robots to execute the predetermined task or the predetermined game based on the operation signal, and an imaging device Causing the operator of the operation terminal to display an image of the site of the work or the competition by the at least two industrial robots, the processing being performed by the operator.

  According to the present invention, the operator visually recognizes an image (including a still image and a moving image) of a work or a competition site of the industrial robot displayed on the display device, and uses the industrial terminal to control the industrial robot. By remotely controlling the robot, the industrial robot can work or compete. Thereby, the operator can operate the industrial robot at home, at home, or the like. As a result, interest in the industrial robot can be increased more than before. Therefore, it is expected that the number of people who operate the industrial robot will increase and the spread of the industrial robot will be promoted.

  In the above invention, the mediation device may determine an operation level of the operator based on a predetermined evaluation factor.

  According to the above configuration, the operation skill of the operator can be grasped. This makes it easier to secure an operator who can operate the industrial robot with high skills, and can also build a business model in which such an operator is requested to perform a task of remote control of the robot.

  In the above invention, the mediation device may receive the evaluation from a watching device that gives an evaluation to the work or the game by the industrial robot, and determine an operation level of the operator based on the evaluation.

  According to the above configuration, since the perception of the performance of the work (for example, the painting work) by the industrial robot differs depending on the person, it is possible to variously determine the operation level of the operator based on such evaluation. it can. In addition, public viewing and watching can increase public interest in robots and in robot operation.

  In the above invention, the mediation device may cause the display device of the operator to display a holding screen for inviting the work or participation in the competition.

  According to the above configuration, the operator can easily participate in the work or the competition by the industrial robot by visually recognizing the display on the display device.

  In the above invention, the mediation device may receive the operator's participation in the work or the competition and connect the operation terminal to the industrial robot.

  According to the above configuration, the operator can freely participate in the work or the competition by the industrial robot at any time.

  In the above invention, the mediation device may disconnect the connection between the operation terminal and the industrial robot in response to the operator's communication from the operation terminal.

  According to the above configuration, the operator can exit the remote control when he / she wants to exit by contacting the mediation device.

  In the above invention, the mediation device may cause the display device to display an image of a site including all the industrial robots.

  According to the above configuration, the operator can visually recognize the work progress and the game situation of the other robot.

  In the above invention, the mediation device may receive the operation signal from a game device connected to a controller as the operation terminal.

  According to the above configuration, the operator does not need to purchase a dedicated operation terminal, and can easily remotely control the robot from home or the like.

  The mediation method according to the present invention executes a predetermined task or a predetermined game corresponding to the operation terminal or the computer from at least two operation terminals or from at least one operation terminal and at least one computer. Receiving an operation signal for operating at least two industrial robots, causing the at least two industrial robots to execute the predetermined task or the predetermined game based on the operation signal, and an imaging device Causing the operator of the operation terminal to display an image of the scene of the work or the competition by the at least two industrial robots.

  The intermediary device of the present invention executes a predetermined task or a predetermined game corresponding to the operation terminal or the computer from at least two operation terminals or from at least one operation terminal and at least one computer. Means for receiving an operation signal for operating at least two industrial robots, means for causing the at least two industrial robots to execute the predetermined task or the predetermined game based on the operation signal, and an imaging device Means for displaying the image of the scene of the work or the competition by the at least two industrial robots on a display device of an operator of the operation terminal.

  ADVANTAGE OF THE INVENTION According to this invention, the mediation apparatus and mediation method which can raise interest with respect to an industrial robot than before can be provided.

It is a block diagram showing composition of a robot operation system concerning one embodiment of the present invention. FIG. 2 is an external view of a controller connected to the game device of FIG. 1. 2A is a block diagram illustrating a configuration of a control unit of the server device of FIG. 1, and FIG. 2B is a block diagram illustrating a functional configuration of the control unit of FIG. It is a figure showing signs that two robots are competing for a painting operation. (A) is a figure which shows an example of the participation invitation display displayed on a display device of an operator, (b) is a figure which shows the spot of the painting work displayed on a display device of an operator. It is a figure showing signs that two robots are playing billiards.

  Hereinafter, a robot operation system having an intermediary device according to an embodiment of the present invention will be described with reference to the drawings. The mediation device described below is only one embodiment of the present invention. Therefore, the present invention is not limited to the following embodiments, and additions, deletions, and changes can be made without departing from the spirit of the present invention.

  In the present embodiment, a mode in which the configuration and functions of the mediation device are assigned to the server device will be described, but the assignment is not limited to this. The configuration and function of the mediation device may be assigned to a game device possessed by the operator, or may be assigned to an industrial robot.

  In the robot operation system 1 of the present embodiment, at least two operators (for example, game players) remotely control a corresponding industrial robot via a communication network using a controller connected to various known game devices. This makes the industrial robots compete with each other to perform a predetermined task.

  The predetermined operation may be, for example, a painting operation as described later, or may be, for example, a picking operation, a lunch box filling operation, a welding operation, or the like. The predetermined task may be any task having a task (a task performed using the body or intelligence under a certain purpose and plan) in at least a part of the process.

  FIG. 1 is a block diagram illustrating a configuration of a robot operation system 1 according to the present embodiment. The robot operation system 1 includes a server device (corresponding to an intermediary device) 2 capable of communicating with each other via a communication network 4 such as the Internet or a LAN, at least two game devices 3, at least two industrial robots 5, and 1 Or, it includes a plurality of watching devices 6. The industrial robot 5 is composed of an industrial robot such as a vertical articulated robot, a horizontal articulated robot, a parallel link robot, a polar coordinate robot, a cylindrical coordinate robot, a rectangular coordinate robot, and wireless communication such as an antenna. Has functions. Note that the number of game devices 3 and the number of industrial robots 5 are the same.

  The game device 3 includes a communication unit 32 such as Internet communication, and can be connected to the communication network 4. The game device 3 is, for example, a stationary game device or a portable game device. The game device 3 to which a controller 38 described later is connected corresponds to an operation terminal. The operation terminal includes, for example, a portable information terminal (PDA (Personal Data Assistant)), a smartphone, a personal computer, a tablet, and a remote controller dedicated to a robot, in addition to various known game devices.

  As shown in FIG. 1, the game apparatus 3 includes a control unit 31, a communication unit 32, and a storage unit 33 such as a hard disk or a memory card on a bus 30. The control unit 31 operates the industrial robot 5 via the communication network 4 based on an operation of a controller 38 described later, and causes the industrial robot 5 to execute a predetermined operation. The control unit 31 includes a CPU 310, a ROM (flash memory) 311, a RAM 312, an image processor 313, an audio processor 314, and an operation unit 315.

  CPU 310 controls the operation of each unit of game device 3. The ROM 311 stores a basic program of the game apparatus 3 and the like. The storage unit 33 stores a program for operating the robot by remote operation (remote operation program), a program for executing various games (game program), and the like. In the RAM 312, a work area used when the CPU 310 executes the game program is set. In the present embodiment, the storage of the remote control program in the storage unit 33 is essential, but the storage of the game program is not essential.

  The image processor 313 includes a GPU (Graphics Processing Unit) capable of generating a game screen. A video RAM (VRAM) 34 is connected to the image processor 313. A display device 35 is connected to the VRAM 34. The display device 35 acquires and displays, via the communication unit 32, a moving image or a still image of a work site of the plurality of industrial robots 5 captured by the imaging device CA described later. Note that the image processor 313 generates a game space according to an instruction from the CPU 310. The display device 35 also has a function of displaying an image in the game space as a game screen.

  The audio processor 314 includes a DSP (Digital Signal Processor) that generates game audio. The sound processor 314 transmits the generated game sound to the amplifier 36 including the D / A converter. The amplifier 36 amplifies the audio signal and transmits the amplified audio signal to the speaker 37.

  The controller 38 is connected to the operation unit 315. The controller 38 includes a cross button, a push switch, a joystick, a mouse, a keyboard, a touch panel, and the like. The operation unit 315 detects an operation signal from the user via the controller 38, and transmits the operation signal to the CPU 310.

  The communication unit 32 performs communication with the industrial robot 5 via the communication network 4. By operating the controller 38 owned by the operator, the control unit 31 issues an operation command to the industrial robot 5 via the communication unit 32. Thereby, the industrial robot 5 is remotely operated by the operation of the controller 38 by the operator.

  In addition, the control unit 31 executes a game progress or downloads a game program by performing communication between the game apparatus 3 and the server apparatus 2 by data communication.

  FIG. 2 is an external view of the controller 38 connected to the game apparatus 3 of FIG. As shown in FIG. 2, the controller 38 is substantially U-shaped. The operator operates the handle 101L, 101R of both wings while holding the handle with both left and right hands. Operation buttons 110 and 120 and analog sticks 112 and 122 are provided on the left and right upper surfaces of the controller 38. An R1 button 111 is provided on the right front of the controller 38, and an L1 button 121 is provided on the left front thereof. The operation button group 110 and the analog stick 112 are operated by the operator's right thumb, and the operation button group 120 and the analog stick 122 are operated by the operator's left thumb. The R1 button 111 and the L1 button 121 are operated by the right and left fingers of the operator, respectively. The controller 38 further includes a touch pad 130 between the operation button group 110 and the operation button group 120.

  As shown in FIG. 3A, the server device 2 includes a control unit 20 including, for example, a microcontroller, an MPU, a field programmable gate array (FPGA), a programmable logic controller (PLC), a computer, or a personal computer. Have. The control unit 20 includes a CPU 21, a ROM 22, a RAM 23, a storage unit 24, and a communication unit 25. The CPU 21 controls the operation of each unit of the server device 2. The ROM 22 stores a basic program of the server device 2 and the like. The storage unit 24 stores a program for functionally realizing a level determination unit 26, a solicitation unit 27, a measurement unit 28, a reception unit 40, and a cutting unit 41, which will be described later. The control unit 20 may be configured by a single arithmetic unit that performs centralized control, or may be configured by a plurality of arithmetic units that perform distributed control. Further, the level determination unit 26, the solicitation unit 27, the measurement unit 28, the reception unit 40, and the disconnection unit 41 may be realized by hardware using a logic circuit or the like. It may be realized by a combination with the used hardware.

  As illustrated in FIG. 3B, the control unit 20 of the server device 2 includes a level determination unit 26, a solicitation unit 27, a measurement unit 28, a reception unit 40, and a disconnection unit 41 as functional components. . The level determining unit 26, the solicitation unit 27, the measuring unit 28, the receiving unit 40, and the disconnecting unit 41 are functionally implemented by cooperation of the control unit 20 and the predetermined program stored in the storage unit 24 in the server device 2. Is done.

  Here, as shown in FIG. 4, a case where the two industrial robots 5 execute, for example, a painting operation as a predetermined operation, and the time required from the start of the operation to the completion of the operation is competed between the industrial robots 5. Will be described.

  The industrial robot 5 includes a coating gun 206 as a coating device main body, a manipulator 204 as a moving device, a supply device 202 for supplying a liquid such as paint discharged from a nozzle 207 described later to the coating gun 206, and a manipulator 204. And a control device (robot controller) 201 for controlling the operation of. An installation table 210 on which the work 211 is installed is arranged near the industrial robot 5. The surface 212 of the work 211 is made of a material containing a color-changing substance, and water as a liquid is discharged from the nozzle 207 of the coating gun 206 onto the surface 212 of the work 211, so that a portion of the surface 212 wetted with water is formed. May be discolored and colored.

  The control device 201 is provided with a processor, performs decoding and arithmetic processing of stored programs and various signals input from the outside by the processor, and controls operation of the manipulator 204, signal output from various output ports, and the like. .

  The painting gun 206 is attached to a wrist 205 of the manipulator 204. The nozzle 207 constitutes the tip of the coating gun 206, from which the paint is discharged. In the coating gun 206, ON / OFF of the discharge of the paint from the nozzle 207 is controlled by the driving device 203, and the discharge amount is also controlled. The driving device 5 is controlled by the control device 201.

  The work 211 to be coated is set on the setting table 210. When the manipulator 204 operates, the nozzle 207 ejects paint to the surface 212 of the workpiece 211 while moving near the surface 212 of the workpiece 211. As a result, the surface 212 of the work 211 is coated.

  In this way, the two industrial robots 5 that perform work such as painting work are arranged close to each other. Further, the site where the two industrial robots 5 are working is imaged by an imaging device CA such as a camera. Note that FIG. 4 shows an example in which the imaging devices CA are installed in correspondence with the industrial robots 5. However, one imaging device CA images the site where the two industrial robots 5 perform the painting operation. May be.

  When the industrial robot 5 competes for such a painting operation, first, the invitation unit 27 of the server device 2 displays a display for inviting the operator to participate in the operation on the display device 35 of the game device 3. Let it do. In this case, as shown in FIG. 5A, a message, such as "I can participate now!", Which invites the operator to participate in the work, is displayed on the display screen 35a of the display device 35. Is done. As described above, since the robot operation system 1 according to the present embodiment makes the industrial robots 5 compete with each other to perform a predetermined task, the message connects the own game device 3 to the communication network 4. This is displayed when there are at least two operators. The server device 2 may be configured to transmit the message to the game device 3 by another means such as an e-mail.

  When each operator visually recognizes the display screen 35 a of the display device 35 and participates in the painting work by the industrial robot 5, the controller 38 performs a predetermined operation to transmit a signal indicating the intention to participate to the server device 2. be able to. The receiving unit 40 of the server device 2 receives the participation of the operator in the work, and connects the game device 3 and the industrial robot 5 via the communication network 4. In this case, the server device 2 may assign a predetermined ID to the operator and store the correspondence between the operator and the ID. The operator can perform the above-mentioned participation by inputting the ID. Each operator can cause the corresponding industrial robot 5 to perform a painting operation by operating the controller 38 after the game device 3 of the operator is connected to the industrial robot 5 via the communication network 4. In this case, the measuring unit 28 of the server device 2 measures the time required from the start of the work to the completion of the work. In addition, the control unit 20 of the server device 2 causes the display screen 35a of the display device 35 to display the elapsed time from the start of the work measured by the measurement unit 28 to the present, as described later. The control device (robot controller) 201 of the industrial robot 5 controls each operation of the industrial robot 5 with an operation signal obtained by converting a signal based on each operation of the controller 38. Thereby, the operator can cause the industrial robot 5 to perform an operation in the painting operation by operating the controller 38.

  When each industrial robot 5 is competing for a painting operation, the display device 35 displays a moving image of the site including all the industrial robots 5 (two industrial robots 5 in this embodiment). Specifically, as shown in FIG. 5B, a moving image of the work site of the industrial robot 5 corresponding to the game device 3 of the user, which is captured by the imaging device CA, is displayed on the display screen 35a of the display device 35. At the same time, a moving image of the work site of the industrial robot 5 corresponding to the opponent game device 3 is displayed. FIG. 5B illustrates an example in which the progress of the painting operation of the industrial robot 5 corresponding to the own game apparatus 3 is faster than the progress of the painting operation of the industrial robot 5 corresponding to the opponent game apparatus 3. Is shown. In addition, the display screen 35a of the display device 35 may display a target time of the completion of the painting operation, an elapsed time from the start of the painting operation to the present, and the like. Note that, on the display screen 35a in FIG. 5B, the display of the images of the industrial robot 5 and the installation table 210 captured by the imaging device CA is omitted.

  When the coating operation by each industrial robot 5 is completed, the level determination unit 26 determines the operation level of the operator based on a predetermined evaluation factor regarding the coating operation of the industrial robot 5. As an evaluation factor, for example, in the case of an operation such as a painting operation, the time required for completing the operation, the work quality, and the like can be adopted. The finish of the painting operation includes, for example, the color and clarity of the painting, the degree of protrusion from the frame, and the like.

  Although the operation level of the operator is determined by the level determination unit 26 as described above, in addition to such a configuration, the server apparatus 2 via the communication network 4 as shown in FIG. One or a plurality of connectable watching devices 6 can be provided. The watching device 6 is a device having a display unit capable of displaying a moving image of the work status of the industrial robot 5, for example, any one of a personal digital assistant (PDA (Personal Data Assistant)), a smartphone, a personal computer, and a tablet. Alternatively, it is composed of a simple input device. In such a configuration, a viewer who is far away or a crowd who has gathered at the work site can give a score (evaluation) to the degree of the painting work of the industrial robot 5 using the watching apparatus 6. . The score is transmitted to the server device 2, and the level determination unit 26 may determine the operation level of the operator based on the evaluation. Regarding the quality of the painting work performed by the industrial robot 5, the perceptual perception differs depending on the person, and therefore, the operation level of the operator can be variously determined based on such evaluation. In addition, by making the public and watching the game in this way, it is possible to increase the public's interest in the robot and the interest in the robot operation.

  In addition, for example, a plurality of operation levels associated with each time zone required for the painting operation may be stored in the storage unit 24 in advance. In this case, the level determination unit 26 certifies the specific operation level for the winner and also certifies the specific operation level for the loser. That is, the predetermined operation level may be recognized not only for the winner but also for the loser.

  The disconnecting unit 41 disconnects the game device 3 from the industrial robot 5 in response to a communication from the game device 3 by the operator.

  As described above, according to the server device 2 in the robot operation system 1 of the present embodiment, the operator can display images (including still images and moving images) of the work site of the industrial robot 5 displayed on the display device 35. The user can make the industrial robot 5 work by remotely operating the industrial robot 5 with the controller 38 owned by himself while visually recognizing). Thus, the operator can operate the industrial robot 5 at home, at home, or the like. Thereby, interest in the industrial robot 5 can be improved more than before. Therefore, it is expected that the number of people who operate the industrial robot 5 will increase and that the industrial robot 5 will be widely used.

  Further, in the present embodiment, since the operation level of the operator is determined based on the predetermined evaluation factor, it is possible to grasp the operation skill of the operator. As a result, it is easy to secure an operator who can operate the industrial robot 5 with high skill, and it is also possible to construct a business model in which such an operator is requested to perform a task of robot remote operation.

  Further, in the present embodiment, since the server device 2 as the mediation device includes the level determination unit 25, it becomes easy to collect information on operators who can operate the industrial robot 5 with high skill.

  Further, in the present embodiment, since the moving image of the site including all the industrial robots 5 is displayed on the display device 35, the operator can visually recognize the work progress of the industrial robot 5 on the other side. Thus, it is expected that the operator can increase concentration and passion in the work.

  Further, in the present embodiment, the control unit 20 of the server device 2 includes the solicitation unit 27 that causes the display device 35 to perform a display for inviting participation in the painting work. It becomes easy to participate in the painting work by visually recognizing the invitation display at 35a.

  In the present embodiment, the connection between the game device 3 and the industrial robot 5 is disconnected by the disconnecting unit 41 of the server device 2 in response to the operator's communication from the game device 3. . This allows the operator to exit the remote operation when he / she wants to exit.

  Furthermore, in the present embodiment, by employing the game device 3 to which the controller 38 is connected as the operation terminal, the operator does not need to purchase a dedicated operation terminal, and can easily use the industrial robot 5 from home or the like. Remote control.

(Other embodiments)
In the above-described embodiment, a mode in which each industrial robot 5 competes for a painting operation as a predetermined operation has been described. Let

  FIG. 6 is a diagram illustrating a state in which the two industrial robots 5A play billiards as a predetermined game. 6, the same components as those in FIG. 4 are denoted by the same reference numerals, and the description thereof will be omitted.

  As shown in FIG. 6, a hand 208 is attached to a wrist 205 of the manipulator 204. The hand 208 holds a cue 209 for hitting a billiard ball. By operating the manipulator 204 under the control of the control device 201, a ball on the billiard table can be hit by the cue 209. When the billiard competition by each industrial robot 5 ends, the level determination unit 26 determines the operation level of the operator based on the evaluation factors related to the billiard competition. The evaluation factors include, for example, the time required to determine a win or the loss, the number of target balls that can be dropped in a pocket, the accuracy of a shot (for example, a target ball that can be hit directly or indirectly with a ball). And the like) can be adopted. A part of the billiard table in FIG. 6 is a sectional view.

  The above-mentioned predetermined sports include, for example, ball games such as tennis and baseball, athletics such as running, jumping and throwing, fighting sports such as kendo and judo, ice and snow sports such as skiing and skating, swimming and diving. Such as water sports, boat sports such as yachts and boats, car sports such as bicycles and cars, competitive dance, and intellectual sports such as shogi and go.

  Further, in the above embodiment, the mode in which the operation signals of the industrial robots 5 and 5A are given by the controllers 38 of a plurality of operators has been described. However, in another embodiment, at least one operation terminal and at least one computer are provided. (Including AI, etc.), the operation signals of the industrial robots 5 and 5A are provided. That is, at least one of the opponents of the operator is a computer. The computer is provided in the server device 2, but is not limited thereto, and may be provided in the game device 3 or the industrial robots 5, 5A.

  Even in the case described above, the interest in the industrial robots 5 and 5A can be improved as compared with the related art, similarly to the above embodiment. Therefore, it is expected that the number of people who operate the industrial robots 5 and 5A increases, and that the use of the industrial robots 5 and 5A is promoted.

  Further, the industrial robots 5 and 5A of the above embodiments may be configured as self-propelled robots. Thereby, the operation range of the industrial robots 5 and 5A can be expanded.

  Further, the level determination unit 26 may determine the operation level of the operator based on the number of times that the same series of operations of the controller 38 by the operator has been performed within a predetermined time. Generally, it is considered that the more the same series of operations of the controller 38 within the predetermined time, the higher the operation level. Thereby, the operation skill of the operator can be grasped with higher accuracy.

1 Robot operation system 2 Server device (mediation device)
3 Game device (operation terminal)
Reference Signs List 4 communication network 5, 5A industrial robot 6 watching device 26 level determination unit 27 solicitation unit 28 measurement unit 31 control unit 35 display device 38 controller (operation terminal)
40 reception unit 41 cutting unit CA imaging device

Claims (17)

From at least two operation terminals, or from at least one operation terminal and at least one computer, at least two industrial robots respectively corresponding to the operation terminal or the computer and executing a predetermined task or a predetermined competition. A process of receiving an operation signal for operation;
A process of causing the at least two industrial robots to execute the predetermined task or the predetermined game based on the operation signal;
Displaying the image of the site of the work or the competition by the at least two industrial robots captured by the imaging device on a display device of an operator of the operation terminal.   The mediation device according to claim 1, wherein an operation level of the operator is determined based on a predetermined evaluation factor.   The intermediary device according to claim 1, wherein the evaluation device receives the evaluation from a watching device that gives an evaluation to the work or the competition by the industrial robot, and determines an operation level of the operator based on the evaluation.   The mediation device according to any one of claims 1 to 3, wherein a holding screen for inviting the work or participation in the competition is displayed on the display device of the operator.   The mediation device according to any one of claims 1 to 4, wherein the operation device or the participation in the competition by the operator is received, and the operation terminal is connected to the industrial robot.   The mediation device according to any one of claims 1 to 5, wherein a connection between the operation terminal and the industrial robot is disconnected in response to a notification from the operation terminal of the operator.   The mediation device according to claim 1, wherein an image of a site including all of the industrial robots is displayed on the display device.   The mediation device according to any one of claims 1 to 7, wherein the operation terminal receives the operation signal from a game device connected to a controller as the operation terminal. From at least two operation terminals, or from at least one operation terminal and at least one computer, at least two industrial robots respectively corresponding to the operation terminal or the computer and executing a predetermined task or a predetermined competition. Receiving an operation signal for operating;
Causing the at least two industrial robots to perform the predetermined task or the predetermined competition based on the operation signal;
Displaying an image of the site of the work or the competition by the at least two industrial robots captured by an imaging device on a display device of an operator of the operation terminal.   The mediation method according to claim 9, further comprising determining an operation level of the operator based on a predetermined evaluation factor.   The method according to claim 9, further comprising: receiving the evaluation from a watching apparatus that gives an evaluation to the work or the competition by the industrial robot, and determining an operation level of the operator based on the evaluation. Mediation method.   The mediation method according to any one of claims 9 to 11, wherein a holding screen for inviting the work or participation in the competition is displayed on the display device of the operator.   The mediation method according to any one of claims 9 to 12, wherein the operator or the participation in the competition is received, and the operation terminal is connected to the industrial robot.   14. The mediation method according to claim 9, wherein the connection between the operation terminal and the industrial robot is disconnected in response to a communication from the operation terminal by the operator.   The mediation method according to claim 9, wherein an image of a site including all of the industrial robots is displayed on the display device.   16. The intermediation method according to claim 9, wherein the operation signal is received from a game device to which a controller is connected as the operation terminal. From at least two operation terminals, or from at least one operation terminal and at least one computer, at least two industrial robots respectively corresponding to the operation terminal or the computer and executing a predetermined task or a predetermined competition. Means for receiving an operation signal for operating;
Means for causing the at least two industrial robots to execute the predetermined task or the predetermined competition based on the operation signal;
Means for displaying, on a display device of an operator of the operation terminal, an image of the site of the work or the competition by the at least two industrial robots captured by an imaging device.

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